CN115519637B - Method for cutting off raw bamboo in fixed length and intelligently identifying bamboo joints - Google Patents
Method for cutting off raw bamboo in fixed length and intelligently identifying bamboo joints Download PDFInfo
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- CN115519637B CN115519637B CN202211124012.6A CN202211124012A CN115519637B CN 115519637 B CN115519637 B CN 115519637B CN 202211124012 A CN202211124012 A CN 202211124012A CN 115519637 B CN115519637 B CN 115519637B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27J—MECHANICAL WORKING OF CANE, CORK, OR SIMILAR MATERIALS
- B27J1/00—Mechanical working of cane or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
- B27B31/00—Arrangements for conveying, loading, turning, adjusting, or discharging the log or timber, specially designed for saw mills or sawing machines
- B27B31/003—Arrangements for conveying, loading, turning, adjusting, or discharging the log or timber, specially designed for saw mills or sawing machines with rollers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
- B27B5/00—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor
- B27B5/02—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor characterised by a special purpose only
- B27B5/06—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor characterised by a special purpose only for dividing plates in parts of determined size, e.g. panels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
- B27B5/00—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor
- B27B5/29—Details; Component parts; Accessories
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W90/00—Enabling technologies or technologies with a potential or indirect contribution to greenhouse gas [GHG] emissions mitigation
- Y02W90/10—Bio-packaging, e.g. packing containers made from renewable resources or bio-plastics
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Abstract
The invention discloses a method for the fixed-length cutting and the intelligent bamboo joint recognition of raw bamboo, which comprises the following steps: conveying the raw bamboo to the upper part of the raw bamboo separation transport assembly through a first raw bamboo transport rail and a first roller assembly; the method comprises the steps of transporting raw bamboo forwards to the position below an imaging sensing device to collect raw bamboo image information, and adjusting the position of a circular sawing machine assembly relative to the horizontal direction of the raw bamboo according to the raw bamboo image information so as to avoid the root bending part and the bamboo joint part of the raw bamboo; starting a circular sawing machine assembly to saw the raw bamboo after the adjustment is finished, so as to obtain a plurality of sections of bamboo tubes; the bamboo tube is continuously pushed by the original bamboo separation conveying assembly, the bamboo tube is conveyed to the position above the plane support through a lower sliding rail of the bamboo tube, the manipulator assembly is started to grasp the bamboo tube and rotate, the bamboo tube is placed above the first bamboo tube conveying rail, and the bamboo tube is pushed to be conveyed forwards by a bamboo tube pushing strip on the bamboo tube conveying rail; the bamboo tubes are pushed to the upper part of the rotary hand pulling device one by one, and after the bamboo tubes rotate anticlockwise, the bamboo tubes are sent to a second bamboo tube conveying track for the next working procedure.
Description
Technical Field
The invention relates to the field of bamboo processing, in particular to a method for cutting off raw bamboo at a fixed length and intelligently identifying bamboo joints.
Background
Bamboo is increasingly attracting attention in the industry due to its characteristics of freshness, naturalness, high strength, environmental protection, etc. The bamboo tube is obtained by cutting raw bamboo, and can be used for processing bamboo flattening plates, rough planing bamboo splints and the like, however, the traditional bamboo tube preparation method has the problems of low continuity, low automation degree, large labor capacity, low production efficiency and the like, and can not meet the requirements of future bamboo. The traditional bamboo tube preparation method mostly relies on manual work to carry out operations such as feeding, fixing, sawing, collecting and the like on bamboo materials, so that the problems of discontinuous processing of the bamboo tube, easy operation error, low production efficiency and the like are caused.
Through retrieving, CN 207983547U discloses a raw bamboo saw cuts machine device easy to operate, has realized the automatic saw cuts of raw bamboo through devices such as guide way, inductor, driving roller, but it still has some problems, can only one section thick bamboo tube saw cuts one by one, needs the manual operation to avoid the bamboo joint simultaneously, cuts the thick bamboo tube, and thick bamboo tube production efficiency is lower. According to the invention, the novel bamboo tube cutting device is provided with a plurality of circular saw machine assemblies and a camera sensing device, raw bamboo is transported to the front end of the camera sensing device, raw bamboo image information is collected, the circular saw machine assemblies are adjusted to move horizontally in the radial direction of the bamboo tube so as to avoid bending parts and bamboo joint parts of the root of the raw bamboo, accurate and efficient bamboo tube cutting is performed, each circular saw machine assembly comprises two parallel circular saw blades (the second circular saw blade is positioned obliquely below the first circular saw blade), raw bamboo is cut, cutting resistance can be effectively reduced, flatness of a cut surface is increased, and thickness fixing accuracy of the bamboo tube is conveniently improved; meanwhile, the raw bamboo is transported to the front end of the circular saw blade assembly through the raw bamboo separation conveying assembly, and when sawing, the air pump pressing assembly above the raw bamboo applies constant pressure to the raw bamboo through the air cylinder, so that the raw bamboo is prevented from jumping or shifting during sawing, and burrs on sawing surfaces are reduced. Meanwhile, the multiple circular sawing machine assemblies can realize simultaneous cutting of multiple sections of bamboo tubes, and the bamboo tubes are conveyed to the conveying rail through the manipulator assembly, so that efficient production is realized. Through using rotatory handle device, realize the transport of the thick bamboo tube between two perpendicular thick bamboo tube transportation tracks, improve work efficiency, practice thrift area and cost.
Disclosure of Invention
The invention aims at overcoming the defects in the prior art, and provides a method for cutting the original bamboo into fixed length and intelligently identifying bamboo joints, which can realize mechanical automation and continuous production of rough-plane bamboo chips, so as to improve the automation and continuous degree of bamboo processing and improve the working efficiency.
The invention provides a method for the fixed-length cutting and the intelligent bamboo joint recognition of raw bamboo, which adopts the following technical scheme:
s01: transporting the raw bamboo forwards through a first raw bamboo transporting rail, and transporting the raw bamboo to the upper part of the raw bamboo separation transport assembly through a first roller assembly;
s02: the method comprises the steps of transporting raw bamboo on a raw bamboo separation conveying assembly forwards to the position below a camera shooting sensing device, collecting raw bamboo image information, controlling a circular sawing machine assembly to move horizontally along the radial direction of a bamboo tube of the raw bamboo according to the collected raw bamboo image information, and adjusting the position of the circular sawing machine assembly relative to the horizontal direction of the raw bamboo so as to avoid the root bending part and the bamboo joint part of the raw bamboo;
s03: starting the circular sawing machine assembly after the positions of all the circular sawing machine assemblies in the horizontal direction relative to the raw bamboo are adjusted, and sawing the raw bamboo to obtain a multi-section bamboo tube;
s04: the bamboo tube is continuously pushed by the raw bamboo separation conveying assembly, conveyed to the position above the plane support through the lower sliding rail of the bamboo tube, started to be grabbed by the manipulator assembly and rotated by a first angle, placed above the first bamboo tube conveying rail, and pushed forward by the bamboo tube pushing strip on the manipulator assembly;
s05: and pushing the bamboo tubes to the upper part of the rotary hand pulling device one by one, and after rotating anticlockwise by a second angle, conveying the bamboo tubes to a second bamboo tube conveying track for the next working procedure.
In a preferred embodiment of the present invention, in step S02, the circular saw assembly includes a first circular saw assembly, a second circular saw assembly, an N-th circular saw assembly, and a method for adjusting a position of the circular saw assembly for sawing the raw bamboo according to the acquired raw bamboo image information includes:
adjusting the initial position of the first circular sawing machine assembly to a position 10cm away from the tail end of the raw bamboo;
identifying a raw bamboo root image along the radial direction of the raw bamboo from a first circular saw assembly, and controlling the first circular saw assembly and a subsequent second circular saw assembly to horizontally move toward the tip direction of the raw bamboo until the first circular saw blade position on the first circular saw avoids the bending part when judging that the root of the raw bamboo is bent according to the identified raw bamboo root image;
the method comprises the steps that a pick-up sensing device in front of a second circular sawing machine assembly is used for collecting bamboo joint images of raw bamboo, and when the bamboo joints of the raw bamboo are judged according to the identified bamboo joint images of the raw bamboo, the second circular sawing machine assembly and a subsequent third circular sawing machine assembly are controlled;
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acquiring bamboo joint images of the raw bamboo through a camera sensing device in front of the Nth circular sawing machine assembly, and controlling the Nth circular sawing machine assembly to move in parallel along the direction of the tip of the raw bamboo until the position of the Nth circular sawing blade on the Nth circular sawing machine avoids the bamboo joint when judging that the bamboo joint exists in the raw bamboo according to the identified bamboo joint images of the raw bamboo;
the bamboo joint image of the raw bamboo transmitted by the camera sensing device is not received any more, or when the circular sawing machine assembly is judged to completely avoid all bamboo joints of the raw bamboo according to the received raw bamboo image transmitted by the camera sensing device, the first circular sawing machine assembly and the second circular sawing machine assembly are adjusted to be complete relative to the sawing position of the raw bamboo.
In the preferred embodiment of the invention, when the nth circular saw assembly moves horizontally, the following nth+1 circular saw assembly, nth+2 circular saw assembly, nth+3 circular saw assembly, and nth circular saw assembly are driven to move horizontally synchronously, and the distance of the circular saw assembly moving horizontally along the radial direction of the raw bamboo is 5-15 cm.
In a preferred embodiment of the invention, the camera sensing devices are assembled with the circular saw assembly in a one-to-one correspondence, and the circular saw assembly and the camera sensing devices are aligned in parallel in the horizontal direction.
In a preferred embodiment of the present invention, in the step S03, the length of the bamboo tube is 1-3 m, and the number of the circular sawing machine assemblies is the same as the number of the bamboo tubes.
In a preferred embodiment of the present invention, in the step S03, the method for sawing the raw bamboo by using the circular sawing machine assembly includes:
when the raw bamboo is moved to the front end of the circular sawing machine assembly and the bamboo joints of the raw bamboo are avoided, starting an air pump assembly which is arranged perpendicular to the radial direction of the raw bamboo;
pushing a piston column at the lower end of the air pump component to prop against the upper end of the transported raw bamboo by air pressure;
and controlling two saw blades which are arranged on the circular sawing machine assembly in parallel to rotate in opposite directions so as to cut the raw bamboo.
In the preferred embodiment of the present invention, in the step S04, the number of the manipulator assemblies and the number of the bamboo tubes are n, n groups of bamboo tube pushing strips are arranged above the first bamboo tube transporting rail, each group of bamboo tube pushing strips is provided with two parallel arranged bamboo tube pushing strip bodies, each group of bamboo tube pushing strips is spaced at a certain distance, and the two bamboo tube pushing strip bodies of each group of bamboo tube pushing strips are matched with the first bamboo tube transporting rail to push the bamboo tubes forward one by one.
In the preferred embodiment of the invention, the first bamboo tube conveying rail and the second bamboo tube conveying rail are vertically arranged, a plurality of bamboo tube baffle assemblies are arranged on the second bamboo tube conveying channel, and the bamboo tube baffle assemblies regulate and control the conveying speed of the bamboo tubes through baffle bamboo tubes and convey the bamboo tubes to the next working procedure through the second bamboo tube conveying rail.
In the preferred embodiment of the invention, the waste materials generated by sawing the bamboo tubes and the root and tip parts of the raw bamboo are recovered through a waste material collecting channel of a waste material collecting mechanism.
In the preferred embodiment of the invention, the length of the raw bamboo in the step S1 is 8-15 m, the water content is more than or equal to 14%, and the bamboo age is 4-7 years.
The invention provides a method and equipment for the fixed-length cutting and the intelligent bamboo joint recognition of raw bamboo, and the method and equipment have the following advantages:
1. through the automatic processing cooperation of different mechanisms, the operations such as manual feeding, cutting and the like are not needed, and the mechanical, automatic and continuous production of the cut-off raw bamboo is realized.
2. Can keep away former bamboo root bight and bamboo joint part automatically when saw cut, can cut out multistage thick bamboo tube simultaneously to former bamboo accurate high efficiency, compare with traditional piecewise cutting former bamboo, improved production efficiency greatly.
3, through two parallel circular saw blades (second circular saw blade is located first circular saw blade oblique below) of laying on every circular sawing machine subassembly, and two saw blade rotation opposite directions saw cut the former bamboo, have reduced the resistance of cutting, increase tangent plane roughness, are convenient for improve the thickness degree of accuracy.
4. When sawing, the air pump pressing component above the raw bamboo applies constant pressure to the raw bamboo through the air cylinder, so that the raw bamboo can be prevented from jumping or shifting during sawing, burrs on sawing surfaces are reduced, and the accuracy of measuring the sizes of the bamboo tubes during subsequent sorting is improved.
5. Through the multiunit thick bamboo tube push strip that sets up in first thick bamboo tube transportation track top, cooperation first thick bamboo tube transportation track push thick bamboo tube forward one by one to guarantee the orderly transportation of bamboo strip.
6. Through using rotatory handle device, realize the transport of the thick bamboo tube between two perpendicular thick bamboo tube transportation tracks, improve work efficiency, practice thrift area and cost.
7. The waste collection mechanism is used for conveying and collecting waste generated in the sawing process of the bamboo tube and the root and the tip of the raw bamboo through the waste collection channel, so that the normal operation of the equipment is ensured.
Drawings
For a clearer understanding of the objects, features and advantages of the present invention, a preferred embodiment of the present invention will be described in detail below with reference to the attached drawings, wherein:
FIG. 1 is a schematic structural view of an embodiment of a device for intelligent identification of bamboo joints and fixed-length cutting of raw bamboo according to the present invention;
FIG. 2 is a schematic block diagram of the device for processing the raw bamboo by the raw bamboo fixed-length cutoff and bamboo joint intelligent recognition device in FIG. 1;
FIG. 3 is a schematic block diagram of the circular saw assembly in FIG. 2 according to raw bamboo image information acquired by the camera sensor to adjust the sawing position of the raw bamboo;
FIG. 4 is a step of sawing the raw bamboo by the circular saw assembly of FIG. 3;
FIG. 5 is a schematic view of the cutting mechanism of the raw bamboo in FIG. 1;
FIG. 6 is a partial side view of the raw bamboo saw cut of FIG. 1;
FIG. 7 is a schematic view of the transfer hand apparatus, the second bamboo tube transport rail and the bamboo tube spacer assembly of FIG. 1 for transporting the truncated bamboo tube;
the list of components represented by the various numbers in the drawings is as follows:
the raw bamboo conveying rail 11, the first roller assembly 12, the raw bamboo separating and conveying assembly 13, the circular sawing machine assembly 21, the camera sensing device 22, the air pump assembly 23, the piston column 24, the bamboo tube lower sliding rail 31, the horizontal bracket 32, the manipulator assembly 33, the first bamboo tube conveying rail 34, the bamboo tube pushing bar 35, the rotary hand pulling device 41, the second bamboo tube conveying rail 42, the bamboo tube separating and conveying assembly 43 and the waste recycling channel 51.
Detailed Description
As shown in fig. 1 and 2, the invention provides a method for cutting off the original bamboo to a fixed length and intelligently identifying bamboo joints, which adopts the following technical scheme:
s01: transporting the raw bamboo forwards through a first raw bamboo transporting rail 11, and transporting the raw bamboo to the position above a raw bamboo barrier transporting assembly 13 through a first roller assembly 12;
s02: the raw bamboo on the raw bamboo separation and transportation assembly 13 is transported forward to the position below the image pickup sensing device 22, raw bamboo image information is collected, the circular sawing machine assembly 21 is controlled to move horizontally along the radial direction of the bamboo tube of the raw bamboo according to the collected raw bamboo image information, and the position of the circular sawing machine assembly 21 relative to the horizontal direction of the raw bamboo is adjusted to avoid the root bending part and the bamboo joint part of the raw bamboo;
s03: starting the circular sawing machine assembly 21 to saw the raw bamboo after the positions of all the circular sawing machine assemblies 21 in the horizontal direction of the raw bamboo are adjusted, so as to obtain a multi-section bamboo tube;
s04: the bamboo tube is continuously pushed by the original bamboo separation transportation assembly 13, is transported to the upper part of the plane support 32 through the lower sliding rail 31 of the bamboo tube, the manipulator assembly 33 is started to grasp the bamboo tube and rotate a first angle, the bamboo tube is placed above the first bamboo tube transportation rail 34, and is pushed to be transported forwards by the bamboo tube pushing strip 35 on the bamboo tube transportation rail;
s05: the bamboo tubes are pushed to the upper part of the rotary hand pulling device 41 one by one, and after being rotated anticlockwise by a second angle, the bamboo tubes are sent to the second bamboo tube conveying rail 42 for the next process.
In step S01 of the method: the length of the raw bamboo is preferably but not limited to 8-15 m, the water content is more than or equal to 14%, and the bamboo age is 4-7 years.
According to the embodiment of the invention, the method for cutting the raw bamboo to a fixed length and intelligently identifying the bamboo joints is provided, the raw bamboo is sawed in a multi-section manner, the bamboo tubes are continuously and automatically produced, and the mechanical automatic production for cutting the bamboo tubes is realized through the mutual cooperation among different mechanisms without manual feeding, cutting and other operations.
As shown in fig. 3, in the embodiment provided by the present invention, in step S02, the circular saw assembly 21 includes a first circular saw assembly, a second circular saw assembly, an N-th circular saw assembly, and a method for adjusting and controlling a position of the circular saw assembly 21 to saw a raw bamboo according to collected raw bamboo image information includes:
s021: adjusting the initial position of the first circular sawing machine assembly to a position 10cm away from the tail end of the raw bamboo;
s022: identifying a root image of the raw bamboo along the radial direction of the raw bamboo from the first circular saw assembly, and controlling the first circular saw assembly and the subsequent second circular saw assembly to horizontally move towards the tip direction of the raw bamboo until the first circular saw blade position on the first circular saw avoids the bending part when judging that the root of the raw bamboo is bent according to the identified root image of the raw bamboo;
s023: the bamboo joint image of the raw bamboo is acquired through the camera sensing device 22 in front of the second circular sawing machine assembly, and when the bamboo joint of the raw bamboo is judged according to the identified bamboo joint image of the raw bamboo, the second circular sawing machine assembly and the subsequent third circular sawing machine assembly are controlled to move in parallel along the tip direction of the raw bamboo until the second circular sawing blade on the second circular sawing machine avoids the bamboo joint;
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s02n: acquiring bamboo joint images of the raw bamboo through a camera sensing device 22 in front of the Nth circular sawing machine assembly, and controlling the Nth circular sawing machine assembly to move in parallel along the direction of the tip of the raw bamboo until the position of the Nth circular sawing blade on the Nth circular sawing machine avoids the bamboo joint when judging that the raw bamboo has the bamboo joint according to the identified bamboo joint images of the raw bamboo;
S02N' is that the bamboo joint image of the raw bamboo transmitted by the camera sensing device 22 is not received any more, or when the circular saw assembly is judged to completely avoid all bamboo joints of the raw bamboo according to the received bamboo joint image transmitted by the camera sensing device 22, the sawing position of the first circular saw assembly and the second circular saw assembly relative to the raw bamboo is adjusted.
According to the invention, the image of the raw bamboo is acquired through the image pick-up sensing device, and the circular sawing machine assembly 21 is controlled to horizontally and unidirectionally move along the radial direction of the bamboo tube, so that the bending part and the bamboo joint part of the root of the raw bamboo are avoided, the raw bamboo is accurately and efficiently cut off, and the bamboo tube which meets the processing standard and the requirements better is obtained.
In the embodiment provided by the invention, when the Nth circular sawing machine assembly moves horizontally, the following N+1th circular sawing machine assembly, N+2th circular sawing machine assembly, N+3th circular sawing machine assembly are driven to synchronously move horizontally; in this embodiment, the distance of the horizontal movement of the circular saw assembly along the radial direction of the raw bamboo is preferably 5-15 cm.
In this embodiment provided by the present invention, the camera sensing devices 22 are assembled in one-to-one correspondence with the circular saw assembly 21, and the circular saw assembly 21 is aligned in parallel with the camera sensing devices 22 in the horizontal direction.
Referring to fig. 4, in step S03, the length of the bamboo tube is 1-3 m, and the number of circular saw assemblies is the same as the number of bamboo tubes; and further, the method for sawing the raw bamboo by the circular sawing machine assembly comprises the following steps:
s031: when the raw bamboo is moved to the front end of the circular sawing machine assembly 21 and is avoided from bending and bamboo joints of the raw bamboo, an air pump assembly 23 which is perpendicular to the radial direction of the raw bamboo is started;
s032: the piston column 24 at the lower end of the air pump assembly 23 is pushed against the upper end of the transported raw bamboo by air pressure;
s033: the two saw blades which are arranged in parallel on the circular sawing machine assembly 21 are controlled to rotate in opposite directions so as to cut the raw bamboo.
Further as shown in fig. 5, in the embodiment of the present invention, by arranging two parallel first circular saw blades and second circular saw blades (preferably, the second circular saw blade is located obliquely below the first circular saw blade) on each circular saw assembly 21, and the rotation directions of the two saw blades are opposite, the cutting of the raw bamboo is achieved.
Further, in this embodiment, the piston column 24 at the lower end of the air pump assembly 23 is pushed up and down by air pressure, so that the piston column 24 vertically pushes down against the upper end of the transported raw bamboo to saw the raw bamboo by the circular sawing machine assembly 21.
As shown in fig. 6 and 7, in the embodiment of the present invention, n groups of bamboo tube pushing strips are disposed above the first bamboo tube conveying rail 34, each group of bamboo tube pushing strips is provided with two bamboo tube pushing strip bodies arranged in parallel, each group of bamboo tube pushing strips is spaced at a certain distance, and the two bamboo tube pushing strip bodies of each group of bamboo tube pushing strips cooperate with the first bamboo tube conveying rail 34 to push the bamboo tubes forward one by one. It can be understood that the intervals between the pushing strips of each group of bamboo tubes can be distributed according to the needs, and specific numerical values are not limited.
Referring to fig. 7 again, in an embodiment of the present invention, the first bamboo tube transporting rail 34 and the second bamboo tube transporting rail 42 are vertically arranged, the bamboo tube pushing strips 35 push the bamboo tubes to the upper part of the rotary hand pulling device 41 one by one, and the rotary hand pulling device 41 rotates at a second angle to send the bamboo tubes to the second bamboo tube transporting rail 42 and transport the bamboo tubes to the next process through the second bamboo tube transporting rail 42; in this embodiment, the rotary hand pulling device 41 is rotated 90 ° counterclockwise to pull the bamboo tube from the first bamboo tube conveying rail 34 to the second bamboo tube conveying rail 42 which is vertically conveyed to the first bamboo tube conveying rail for conveying the bamboo tube; in another embodiment provided by the invention, the second bamboo tube transportation channel 42 is provided with a plurality of bamboo tube baffle assemblies 43, and when the bamboo tubes are transported to the second bamboo tube transportation channel 42, the bamboo tubes are baffle by the bamboo tube baffle assemblies 43 on the second bamboo tube transportation channel, so that the transportation speed of the bamboo tubes is regulated and controlled, and the automatic bamboo tube processing production line is coordinated according to the actual requirements in the automatic production process, so that the application range is wide.
In step S04 of the embodiment of the present invention, the number of manipulator assemblies and the number of bamboo tubes are both n, and the first angle and the second angle are preferably 90 °, which can be understood that the number of manipulator assemblies, the first angle and the second angle may be set as required, and are not limited herein.
In the specific embodiment provided by the invention, the waste generated by sawing the bamboo tube and the root and the tip of the raw bamboo are recovered through the waste collecting channel of the waste collecting mechanism, namely, the invention transports the waste generated by cutting the bamboo tube by additionally arranging the waste collecting mechanism, thereby preventing the accumulation of the waste and ensuring the normal operation of each device in the production process.
The invention also relates to the intelligent device for identifying the fixed-length cut-off and the bamboo joints of the raw bamboo, which is used for intelligent identification of the fixed-length cut-off and the bamboo joints of the raw bamboo.
In one embodiment of the intelligent identification equipment for the fixed-length cutoff and bamboo joints of the raw bamboo, the equipment comprises: the device provided by the invention realizes continuous automatic production of the bamboo tubes by carrying out multi-section sawing on the raw bamboo, and realizes mechanical automatic production of cutting the bamboo tubes by mutual cooperation among different mechanisms without manual feeding, cutting and other operations.
Further, referring again to fig. 1 and 5-7, the raw bamboo transporting mechanism includes: the raw bamboo conveying rail 11, the first roller assembly 12 and the raw bamboo baffle conveying assembly 13;
in this device, the raw bamboo cutting mechanism includes: a circular sawing machine assembly 21, a camera sensing device 22, an air pump assembly 23 and a piston column 24;
in this device, the bamboo tube transport mechanism includes: the bamboo tube pushing device comprises a bamboo tube lower sliding rail 31, a horizontal bracket 32, a manipulator assembly 33, a first bamboo tube conveying rail 34 and a bamboo tube pushing strip 35;
in the device, the rotary hand-pulling mechanism includes: the rotary hand pulling device 41, the second bamboo tube conveying rail 42 and the bamboo tube baffle assembly 43.
In the apparatus, the waste recycling mechanism includes: a waste recycling channel 51;
in the embodiment of the intelligent bamboo cutting and joint recognition equipment provided by the invention, the raw bamboo conveying mechanism comprises a first raw bamboo conveying rail, a first roller assembly and a raw bamboo separation conveying assembly, wherein the raw bamboo separation conveying assembly is provided with raw bamboo pushing strips, and can be matched with a sliding rail to push raw bamboo to move to the front end of a circular sawing machine assembly for sawing. The raw bamboo cutting mechanism comprises a circular sawing machine component, a camera sensing device and an air pump component; the camera sensing device is used for collecting images, the circular saw blade assembly is controlled by a computer to horizontally move in one direction along the radial direction of the bamboo tube, the bending part and the bamboo joint part of the root of the raw bamboo are avoided, and the raw bamboo is accurately and efficiently cut off; each circular sawing machine assembly comprises two parallel circular saw blades (the second circular saw blade is positioned obliquely below the first circular saw blade), and the rotation directions of the two circular saw blades are opposite to each other so as to cut the original bamboo. The cutting resistance can be effectively reduced, the flatness of the cutting surface is increased, the thickness fixing accuracy of the bamboo tube is convenient to improve, a plurality of circular sawing machine components can be arranged, and meanwhile, a plurality of sections of bamboo tubes are cut. The air pump component applies a constant pressure to the raw bamboo through the air cylinder, so that the raw bamboo is prevented from jumping or shifting during sawing, and burrs on sawing surfaces are reduced. The bamboo tube conveying mechanism comprises a bamboo tube sliding rail, a horizontal bracket, a mechanical arm assembly and a first bamboo tube conveying rail; and conveying the cut bamboo tube to the upper part of the horizontal bracket, grabbing the bamboo tube by the mechanical arm assembly, rotating by 90 degrees, and adjusting the position of the bamboo tube for conveying. The rotary hand pulling mechanism comprises: the rotary hand pulling device, the second bamboo tube conveying rail and the bamboo tube separation assembly. The rotary hand pulling device pulls the bamboo tubes from the first bamboo tube conveying rail to the second bamboo tube conveying rail which is vertically conveyed by rotating the bamboo tube conveying rail by 90 degrees anticlockwise so as to convey the bamboo tubes; the bamboo tube separation assembly can separate the bamboo tubes, regulate and control the transportation speed of the bamboo tubes and coordinate an automatic bamboo tube processing production line. Waste recycling mechanism, transportation thick bamboo tube cuts produced waste material, prevents that the waste material from piling up, guarantees the normal operating of equipment.
As a preferable scheme of the intelligent bamboo cutting and joint recognition equipment, the raw bamboo separation and transportation assembly is provided with a plurality of raw bamboo pushing strips, and the raw bamboo is pushed to the front end of the circular sawing machine assembly for cutting.
As a preferable scheme of the intelligent identification equipment for the fixed-length cutting and bamboo joint of the raw bamboo, a plurality of circular sawing machine assemblies are horizontally arranged along the direction from the root to the tip of the raw bamboo and can be named as a first circular sawing machine assembly, a second circular sawing machine assembly, a third circular sawing machine assembly and an nth circular sawing machine assembly; setting the length of the sawing bamboo tube to be X-X+0.3m, wherein the initial interval distance between the circular sawing machine components is X, and the circular sawing machine components can move along the tip of the original bamboo unidirectionally and horizontally; in more detail, each group of circular sawing machines is provided with two circular saw blades; the number of the circular sawing machines is adjusted according to the length of the original bamboo and the length of the needed bamboo tubes, the number of the circular sawing machines is n, the number of the bamboo tubes is n, and the number of the circular saw blades is 2n.
As a preferable scheme of the intelligent raw bamboo fixed-length cutoff and bamboo joint recognition device, the front end of the circular saw machine assembly is provided with the camera sensing device, so that raw bamboo images corresponding to the front end of the circular saw blade can be captured, acquired and transmitted, and the circular saw machine assembly is controlled by a computer to horizontally move along the radial direction of the bamboo tube so as to avoid the bending part and the bamboo joint part of the root of the raw bamboo, and the raw bamboo is sawed. Each time the first circular sawing machine assembly starts to recognize images and moves, the initial position of the first circular sawing machine assembly is 10cm away from the tail end of the original bamboo and is used for cutting the root bending part, and if the circular sawing machine assembly needs to move, the subsequent circular sawing machine assembly is driven to move by the same displacement, so that the length of the sawed bamboo tube is more than or equal to X.
As a preferable scheme of the intelligent bamboo cutting and joint recognition equipment, the raw bamboo is transported to the front end of the circular saw blade assembly through the raw bamboo separation conveying assembly. When sawing, the air pump component above the raw bamboo applies a constant pressure to the raw bamboo through the air cylinder, so that the raw bamboo is prevented from jumping or shifting during sawing, burrs on sawing surfaces are reduced, and the accuracy of measuring the sizes of the bamboo tubes during subsequent sorting is improved; further, two air pump components are corresponding to the upper part of each bamboo tube, and the number of the bamboo tubes is n, so that the number of the air pump components is 2n.
As a preferable scheme of the intelligent bamboo cutting and bamboo joint recognition equipment with fixed length, the cut bamboo tubes are conveyed to the upper part of the horizontal support through the lower sliding rail of the bamboo tubes, the manipulator assembly grabs the bamboo tubes to carry out 90-degree position adjustment so as to place the bamboo tubes on the first bamboo tube conveying rail, and in the specific embodiment, the number of manipulators and the number of bamboo tubes are n.
As a preferable scheme of the intelligent bamboo cutting and joint recognition equipment with fixed length, the bamboo tube pushing strips are arranged above the first bamboo tube conveying rail, so that the bamboo tubes can be sequentially pushed to be conveyed forwards; the number of pushing strips of the bamboo tube is preferably 2n.
In order to understand the present invention, the following describes the technical scheme of the present invention with reference to specific embodiments.
The invention provides a method for the fixed-length cutting and the intelligent bamboo joint recognition of raw bamboo, which comprises the following steps:
s01: selecting 11 meters of raw bamboo, and conveying the raw bamboo forwards through a first raw bamboo conveying rail 11, and conveying the raw bamboo to the position above a raw bamboo separation conveying assembly 13 through a first roller assembly 12;
s02: the raw bamboo separation transport assembly 13 is transported forward to the lower part of the image pickup sensor device 22, and raw bamboo image information is collected. Simultaneously, the five groups of circular sawing machine assemblies 21 are controlled by a computer to horizontally move along the radial direction of the bamboo tube so as to avoid the bending part and the bamboo joint part of the root part of the raw bamboo and saw the raw bamboo. Specifically, the initial position of the first circular sawing machine assembly is 10cm away from the tail end of the raw bamboo, the image of the root of the raw bamboo is identified from the first circular sawing machine assembly, and if the front end of the first circular sawing machine assembly is provided with a bending part, the first circular sawing machine assembly horizontally moves towards the tip direction of the raw bamboo to avoid the bending part. Simultaneously, the following four groups of three-equal circular sawing machine components are driven to move by the same displacement, so that the length of the sawed bamboo tube is ensured to be more than or equal to the length of the bamboo tube which is originally set. Then the pick-up sensing device 22 in front of the second circular sawing machine assembly collects bamboo joint information of the raw bamboo, if bamboo joints appear at the front end of the second circular sawing machine assembly, the computer controls the second circular sawing machine assembly and the subsequent third, fourth and fifth circular sawing machine assemblies to move in parallel along the tip direction of the raw bamboo, and the positions of the circular saw blades are adjusted to avoid the bamboo joints. And by analogy, all circular sawing machine components are adjusted, and the raw bamboo is sawed.
S03: starting the circular sawing machine assembly 21 after all the circular sawing machine assemblies 21 are adjusted, enabling the raw bamboo separation conveying assembly 13 to push the raw bamboo forwards, starting the air pump assembly 23 perpendicular to the radial direction of the raw bamboo when the raw bamboo moves to the front end of the circular sawing machine assembly, pushing the piston column 24 at the front end of the air pump assembly to prop against the upper end of the raw bamboo through air pressure, and sawing the raw bamboo to obtain 5 sections of bamboo tubes;
s04: the original bamboo separation transportation assembly 13 continues to push the bamboo tube, the bamboo tube is transported to the upper side of the plane support 32 through the lower sliding rail 31 of the bamboo tube, the 5 groups of manipulator assemblies 33 are started, the grabbing bamboo tube rotates 90 degrees to be placed above the first bamboo tube transportation rail 34, and the bamboo tube pushing strips 35 on the rail push the bamboo tube to be transported forwards.
S05: the bamboo tube pushing strips 35 of the first bamboo tube conveying rail 34 push 5 bamboo tubes one by one above the rotary hand pulling device 41, and the rotary hand pulling device 41 rotates 90 degrees anticlockwise to convey the bamboo tubes to the second bamboo tube conveying rail 42, so that sawing of the bamboo tubes is completed.
On the other hand, the invention also provides a device for intelligently identifying the fixed-length cut-off and the bamboo joints of the raw bamboo, which comprises the method for intelligently identifying the fixed-length cut-off and the bamboo joints of the raw bamboo, and the device comprises the following components: the invention realizes the mechanical, automatic and continuous production of the cut raw bamboo by the automatic processing cooperation of different mechanisms without manual feeding, cutting and other operations.
The bamboo cutting mechanism comprises a bamboo barrel, a bamboo cutting mechanism, a computer (control device) and a bamboo joint, wherein the bamboo cutting mechanism is provided with a plurality of circular saw blade assemblies and a camera sensing device, images are acquired through the camera sensing device, the computer (control device) controls the circular saw assembly to horizontally move along the radial direction of the bamboo barrel, the bending part and the bamboo joint part of the root of the bamboo can be automatically avoided, the bamboo can be accurately and efficiently cut off, multiple sections of bamboo barrels can be cut simultaneously, and compared with the traditional section-by-section cutting of the bamboo, the production efficiency is greatly improved.
In the embodiment of the invention, each circular sawing machine component comprises two parallel circular saw blades (the second circular saw blade is positioned obliquely below the first circular saw blade) and the two saw blades rotate in opposite directions, so that the cutting resistance is reduced, the flatness of a section is increased, and the thickness fixing accuracy is convenient to improve.
According to the embodiment of the invention, the raw bamboo is transported to the front end of the circular saw blade assembly through the raw bamboo separation conveying assembly, and when sawing, the air pump pressing assembly above the raw bamboo applies constant pressure to the raw bamboo through the air cylinder, so that the raw bamboo is prevented from jumping or shifting during sawing, burrs on sawing surfaces are reduced, and the accuracy of measuring the sizes of the bamboo tubes during subsequent sorting is improved.
The invention provides a method for the fixed-length cutting and the intelligent bamboo joint recognition of raw bamboo, which has the following advantages:
1. through the automatic processing cooperation of different mechanisms, the operations such as manual feeding, cutting and the like are not needed, and the mechanical, automatic and continuous production of the cut-off raw bamboo is realized.
2. Can keep away former bamboo root bight and bamboo joint part automatically when saw cut, can cut out multistage thick bamboo tube simultaneously to former bamboo accurate high efficiency, compare with traditional piecewise cutting former bamboo, improved production efficiency greatly.
3. Two parallel circular saw blades (the second circular saw blade is positioned below the first circular saw blade) are arranged on each circular sawing machine assembly, and the rotation directions of the two circular saw blades are opposite to each other so as to saw the raw bamboo, so that the cutting resistance is reduced, the flatness of a cutting surface is increased, and the thickness fixing accuracy is convenient to improve.
4. When sawing, the air pump pressing component above the raw bamboo applies constant pressure to the raw bamboo through the air cylinder, so that the raw bamboo can be prevented from jumping or shifting during sawing, burrs on sawing surfaces are reduced, and the accuracy of measuring the sizes of the bamboo tubes during subsequent sorting is improved.
5. Through the multiunit thick bamboo tube push strip that sets up in first thick bamboo tube transportation track top, cooperation first thick bamboo tube transportation track push thick bamboo tube forward one by one to guarantee the orderly transportation of bamboo strip.
6. Through using rotatory handle device, realize the transport of the thick bamboo tube between two perpendicular thick bamboo tube transportation tracks, improve work efficiency, practice thrift area and cost.
7. The waste collection mechanism is used for conveying and collecting waste generated in the sawing process of the bamboo tube and the root and the tip of the raw bamboo through the waste collection channel, so that the normal operation of the equipment is ensured.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and additions may be made to those skilled in the art without departing from the method of the present invention, which modifications and additions are also to be considered as within the scope of the present invention.
Claims (9)
1. The method for the fixed-length cutting and bamboo joint intelligent recognition of the raw bamboo is characterized by comprising the following steps of:
s01: transporting the raw bamboo forwards through a first raw bamboo transporting rail (11) and transporting the raw bamboo to the position above a raw bamboo barrier transporting assembly (13) through a first roller assembly (12);
s02: the method comprises the steps of transporting raw bamboo on a raw bamboo separation conveying assembly (13) forward to the position below a camera sensing device (22), collecting raw bamboo image information, controlling a circular sawing machine assembly (21) to move horizontally along the radial direction of a bamboo tube of the raw bamboo according to the collected raw bamboo image information, and adjusting the position of the circular sawing machine assembly (21) relative to the horizontal direction of the raw bamboo so as to avoid the root bending part and the bamboo joint part of the raw bamboo;
s03: starting the circular sawing machine assembly (21) to saw the raw bamboo after the positions of all the circular sawing machine assemblies (21) relative to the horizontal direction of the raw bamboo are adjusted, so as to obtain a multi-section bamboo tube;
s04: the bamboo tube is continuously pushed by the raw bamboo separation transportation assembly (13), the bamboo tube is transported to the upper part of the plane support (32) through the lower sliding rail (31) of the bamboo tube, the manipulator assembly (33) is started to grasp the bamboo tube and rotate for a first angle, the bamboo tube is placed above the first bamboo tube transportation rail (34), and the bamboo tube is pushed to be transported forwards by the bamboo tube pushing strip (35) on the bamboo tube transportation rail;
s05: after the bamboo tubes are pushed to the upper part of the rotary hand pulling device (41) one by one and rotated at a second angle, the bamboo tubes are sent to a second bamboo tube conveying track (42) for the next process;
in step S02, the circular saw assembly includes a first circular saw assembly, a second circular saw assembly, an N-th circular saw assembly, and a method for adjusting a position of the circular saw assembly for sawing the raw bamboo according to the acquired raw bamboo image information, including:
adjusting the initial position of the first circular sawing machine assembly to a position 10cm away from the tail end of the raw bamboo;
identifying a raw bamboo root image along the radial direction of the raw bamboo from a first circular saw assembly, and controlling the first circular saw assembly and a subsequent second circular saw assembly to horizontally move in the tip direction of the raw bamboo until the first circular saw blade position on the first circular saw avoids the bending part when judging that the root of the raw bamboo is bent according to the identified raw bamboo root image;
acquiring bamboo joint images of the original bamboo by a camera sensing device (22) in front of the second circular sawing machine assembly, and controlling the second circular sawing machine assembly and a subsequent third circular sawing machine assembly to move in parallel along the tip direction of the original bamboo until the second circular sawing blade on the second circular sawing machine avoids the bamboo joints when judging that the original bamboo joints exist according to the identified bamboo joint images of the original bamboo;
……
acquiring bamboo joint images of the original bamboo by a camera sensing device (22) in front of the Nth circular sawing machine assembly, and controlling the Nth circular sawing machine assembly to move in parallel along the direction of the tip of the original bamboo until the position of the Nth circular sawing blade on the Nth circular sawing machine avoids the bamboo joint when judging that the original bamboo has the bamboo joint according to the identified bamboo joint images of the original bamboo;
and when the bamboo joint image of the raw bamboo transmitted by the camera sensing device (22) is not received any more, or the circular saw assembly is judged to completely avoid all bamboo joints of the raw bamboo according to the received bamboo joint image transmitted by the camera sensing device (22), the first circular saw assembly and the second circular saw assembly are subjected to the adjustment of the sawing position of the nth circular saw assembly relative to the raw bamboo.
2. The method for the fixed-length cutting and bamboo joint intelligent recognition of the raw bamboo according to claim 1, wherein when an nth circular sawing machine assembly moves horizontally, a subsequent n+1th circular sawing machine assembly, an n+2th circular sawing machine assembly, an n+3th circular sawing machine assembly, an N circular sawing machine assembly are driven to move horizontally synchronously, and the distance of the circular sawing machine assembly along the radial direction of the raw bamboo is 5-15 cm.
3. The method for intelligent recognition of bamboo cutting and bamboo joints with fixed length according to claim 2, wherein the camera sensing devices (22) are assembled in one-to-one correspondence with the circular sawing machine assemblies, and the circular sawing machine assemblies (21) and the camera sensing devices (22) are aligned in parallel in the horizontal direction.
4. The method for intelligent recognition of bamboo joints and fixed-length cutoff of raw bamboo according to claim 3, wherein in the step S03, the length of the bamboo tubes is 1-3 m, and the number of the circular sawing machine assemblies (21) is the same as the number of the bamboo tubes.
5. A method for cutting off a bamboo according to claim 1 or 3, wherein in the step S03, the method for sawing the bamboo by a circular sawing machine assembly comprises:
when the raw bamboo is moved to the front end of the circular sawing machine assembly (21) and is avoided from bending and bamboo joints of the raw bamboo, an air pump assembly (23) which is perpendicular to the radial direction of the raw bamboo is started;
pushing a piston column (24) at the lower end of the air pump assembly (23) to prop against the upper end of the transported raw bamboo by air pressure; and controlling two saw blades which are arranged in parallel on the circular sawing machine assembly (21) to rotate in opposite directions so as to cut the raw bamboo.
6. The method for intelligent recognition of bamboo joints and fixed-length cutoff of claim 5, wherein in the step S04, the number of manipulator assemblies and the number of bamboo tubes are n, n groups of bamboo tube pushing strips are arranged above the first bamboo tube conveying rail (34), each group of bamboo tube pushing strips is provided with two parallel arranged bamboo tube pushing strip bodies, each group of bamboo tube pushing strips is separated by a certain distance, and the two bamboo tube pushing strip bodies of each group of bamboo tube pushing strips are matched with the first bamboo tube conveying rail (34) to push the bamboo tubes forward one by one.
7. The method for intelligent recognition of bamboo joint and fixed-length cutting of raw bamboo according to claim 6, wherein the first bamboo tube conveying rail (34) and the second bamboo tube conveying rail (42) are vertically arranged, a plurality of bamboo tube separation assemblies (43) are arranged on the second bamboo tube conveying rail (42), the bamboo tube pushing strips (35) push the bamboo tubes to the upper part of the rotary hand pulling device (41) one by one, the rotary hand pulling device (41) rotates at a second angle and then sends the bamboo tubes to the second bamboo tube conveying rail (42), and the bamboo tubes regulate the conveying speed of the bamboo tubes through the separation bamboo tubes and convey the bamboo tubes to the next procedure through the second bamboo tube conveying rail (42).
8. The method for the fixed-length cutting and bamboo joint intelligent recognition of the raw bamboo according to claim 1, wherein the waste generated by sawing the bamboo tube and the root and the tip of the raw bamboo are recovered through a waste collecting channel of a waste collecting mechanism.
9. The method for the fixed-length cutting and bamboo joint intelligent recognition of the raw bamboo according to claim 1, wherein the length of the raw bamboo in the step S01 is 8-15 m, the water content is more than or equal to 14%, and the bamboo age is 4-7 years.
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| JPH11147205A (en) * | 1997-11-18 | 1999-06-02 | Morita Chikuzaiten:Kk | Removal of joint of bamboo material, wood axial direction boring device and high performance bamboo material |
| CN206336756U (en) * | 2016-11-23 | 2017-07-18 | 欧洋富瑞江苏木业有限公司 | A kind of Wood Transportation device |
| CN108748405B (en) * | 2018-08-29 | 2023-08-08 | 国家林业局北京林业机械研究所 | Intelligent bamboo sawing equipment |
| CN109203142B (en) * | 2018-09-29 | 2023-06-16 | 浙江省林业科学研究院 | Bamboo timber fixed length cuts and bamboo joint intelligent recognition equipment |
| CN111906852B (en) * | 2020-07-28 | 2021-05-28 | 华南农业大学 | Automatic bamboo sawing equipment and method capable of customizing cutting length |
| CN113319952B (en) * | 2021-05-31 | 2022-11-04 | 成都达奇环境科技有限公司 | Raw bamboo cutting system and raw bamboo cutting method |
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